serializers.py 文件源码

def __get_flyzone(cls, data, frame):
        """
        Deserializes flight boundary data into a FlyZoneArray message.

        Args:
            data: List of dictionaries.
            frame: Frame id for the boundaries.

        Returns:
            A FlyzoneArray message type which contains an array of FlyZone
            messages, which contains a polygon for the boundary, a max
            altitude and a min altitude.
        """
        # Generate header for all zones.
        header = Header()
        header.stamp = rospy.get_rostime()
        header.frame_id = frame

        flyzones = FlyZoneArray()
        for zone in data:
            flyzone = FlyZone()
            flyzone.zone.header = header

            flyzone.max_alt = feet_to_meters(zone["altitude_msl_max"])
            flyzone.min_alt = feet_to_meters(zone["altitude_msl_min"])

            # Change boundary points to ros message of type polygon.
            for waypoint in zone["boundary_pts"]:
                point = GeoPoint()
                point.latitude = waypoint["latitude"]
                point.longitude = waypoint["longitude"]
                flyzone.zone.polygon.points.append(point)

            flyzones.flyzones.append(flyzone)

        return flyzones